US2282608A - Hoist - Google Patents

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Publication number
US2282608A
US2282608A US330099A US33009940A US2282608A US 2282608 A US2282608 A US 2282608A US 330099 A US330099 A US 330099A US 33009940 A US33009940 A US 33009940A US 2282608 A US2282608 A US 2282608A
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Prior art keywords
shiftable
load
fixed member
relatively
portions
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US330099A
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Dietrich G Rempel
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Sun Rubber Co
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Sun Rubber Co
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/62—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled
    • B66C1/66—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled for engaging holes, recesses, or abutments on articles specially provided for facilitating handling thereof
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S414/00—Material or article handling
    • Y10S414/126—Handlers with spring devices
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20576—Elements
    • Y10T74/20582—Levers
    • Y10T74/20588—Levers toggle
    • Y10T74/20594—Lazy tongs

Definitions

  • Figure l is a side elevation, partly broken away, of a hoist embodying the invention.
  • Figure 2 is an edge view thereof, as viewed from the right of Figure 1, but on a larger scale, and partly broken away.
  • Figure 3 is an enlarged detail view of a loadengaging tongs at the lower end of the hoist, as viewed from the right of Figure 1.
  • Figure 4 is anassembly view, on a smaller scale, illustrating the hoist shown in Figure 1,
  • Figure 5 is a view similar to Figure 1, on a reduced scale, illustrating a modified form. of the invention.
  • the numeral l0 designates an apertured block having a hook II .on the upper end thereof adapted to hook over a suitable, relatively fixed, supporting beam at 12, it being understood, however, that hook Il may be connected to movable means, such as an overhead crane, (not shown). Extending between the spaced walls I3, l3, of block 10, maybe a pin 14, on which is pivoted an extensible supporting device formed of jointed bars.
  • the device 15 may comprise a pair of downwardly diverging arms [8, l6, pivoted at the upper end thereof on pin 14; a pair of arms 18, I 8, having the upper ends thereof pivoted at l1, IT, to the lower ends of arms l6, arms l8 being pivotally connected at the central portions thereof to form a jointed cross; and a pair of relatively short arms 20, 20, having the upper ends thereof pivoted at l9, 9, to the lower ends of arms l8,the
  • arms 2! being pivotally conected to oppositely disposed studs 21, 2
  • the pivot for .the central jointed connection of the arms l8, i8, may comprise a pin '23, extending between spaced walls 24, 24, of an apertured block 25, the arms l8 being received through the apertures of the block, between said walls.
  • Integral with the block 25 may be a rod 26, extending downwardlyand lslidably through the sleeve 22.
  • On the lower end of the rod 26 may be a.
  • This grasping device may comprise a pair of arms 30, 3.0, pivoted at one end to rod 28 andhaving pivoted at the other end thereof a pair of arms .32, 32, pivotally connected in crossed relation at 33 to a sleeve 34, slidable on rod 28.
  • the arms 32 'g provid spaced jaws 35, .35, which may have'oppositely disposed pins 36, 36, on the inner faces thereof, for engaging in suitable recesses in opposite sidesof work L to be lifted or moved.
  • a compression'spring 31 is provided, normally to urge the jaws 35 apart, the arrangement of the .mechanism 29 being such that when the jaws 3.5
  • a tension spring 38 may be arranged between the relatively fixed block In and the vertically shiftable block 25 to counteract the 'weightof the load L carried thereby.
  • the spring 38 may be of suf-' ficient tension to support the whole load, so that the loads may be moved with a minimum of effort.
  • the load is ,clampingly engaged in the clamping device 29, as previously described.
  • the operator grasps the sleeve 22 with the other hand, and urges itupwardly until the load L is at the desired height when it may easily be swung in an arc from the support l2, as shown in Figure 4. Due to the jointed construction of the supporting device 15, for each unit of distance that the sleeve 22 is moved upwardly, the block degree than was obtained by means of the construction shown in Figures 1 to 4.
  • Velocity ratio may be defined as'the ratio of the distance that the power moves to the distance that the load moves on account of the' movement of the power. vantage of the hoist may be altered by changing the proportions of the various armsor bars so as. i
  • FIG. 5 illustrates a modified form of the invention, the essential difference between this structure and the structure shown in' Figure 4 residing in the addition of another pair ofcrossjointed arms l8 I8 parts which are similar to the structure previously described being given like numerals.
  • the jointed arms l8 are pivoted at the central portions thereof. to a sleeve lB which is slidable on the shaft 26, relatively of the block 25 and the sleeve 22. Upward movement of the sleeve 22 relative to the fixed block l0 imparts movement to sleeve l8 and block 25,
  • the mechanical advantage may also be increased to any desired extent by' addition of the desired number 'of cross-jointed arms pivoted on sleeves. relatively slidable on shaft 26.
  • a hoist comprising a relatively fixed member, an extensible support connected 'to' said member, an element, load-engaging means on said element, and a, member shiftable on said element, portions of said support being spaced in the direction of extensibility of said support and being shiftable from and toward said fixed member to produce a velocityratio between said portions with respect to said fixed member'as the support is collapsed or extended, said element and 'saidshiftable member eachbeing connected to one of said portions to be relatively shiftable therewith, whereby said shiftable member is shiftable relatively of said fixed member to move said element with a mechanical advantage.
  • a device for moving a load comprising a relatively fixed member, an extensible member' connected to said fixed member, an element loadengagin'g means on said element, and a member shiftable on said element, portions of said extensible member being shiftable from and toward said fixed member to produce a velocity ratio between said portions with respect to said fixed member as said extensible member is collapsed or extended, said element and'said shiftable member each being connected to one of said portions to be relatively shiftable therewith, whereby said shiftable member is shiftable relatively of said fixed member to move said element with a mechanical advantage.
  • a hoist comprising a relatively fixed member, an extensible support connected to said its member to move said element with member, an element, load-engaging means on said element, a member shiftable on said element, portions of said support being shiftable from and toward said fixed member to produce a velocity ratio between said portions with respect to said fixed member as the support is collapsed or extended, said element and said shiftable member. being connected to said portions to be relatively shiftable therewith, whereby said shiftable member is shiftable relatively of said fixed member-to move said element with a mechanical advantage, and yieldable means between said fixed member and said element for yieldingly counteracting the load on said ele- ,ment,
  • a device for moving a load comprising a relatively fixed member, an extensible member connected to said fixed member, an element,
  • a hoist comprising a relatively fixed member, an extensible support connected to said member, 'an element, load-engaging means on said element,'and a plurality of members shiftable on said element, portions of said support being shiftable from and toward said fixed member to produce a, velocity ratio between said portions with respect to said fixed member as the support is collapsed or extended, said element and said shiftable members each being connected .to one of said portions to be relatively -shiftable therewith whereby one or more of said shiftable members are shiftable relatively of said fixed a mechanical advantage.
  • a hoist comprising a relatively fixed member, an extensible support connected to said member, an element, load-engaging means on said element, a plurality of members shiftable on said element, portions of said support being shiftable from and toward said fixed member to produce a velocity ratio between said portions with respect to said fixed member as the support is collapsed or extended, said element and said shiftable members being connected to said portions to be relatively shiftable therewith where- 7 with respect tosaid fixed member, said shiftable member thereby being yieldingly shiftable toward and from said fixed member to move a load on said element with a mechanical advantage.
  • a hoist or like device comprising a relatively fixed member, an element, load-engaging means on said element, a member relatively shiftable on said element, yieldable means depending from said relatively fixed member yieldingly to support said element and said shiftable member, said yieldable means providing a velocity ratio between said shiftable member and said element with respect to said fixed member, said shiftable member thereby being shiftable toward and from said fixed member to move a load on said element with a mechanical advantage, and yieldable means connected between said fixed member and said element for counteracting the load on said element.
  • a hoist comprising a relatively fixed member, an extensible support connected to said member, an element, load-engaging means on said element, and a, member shiftable on said element, portions of said support being shiftable from and toward said fixed member to produce a velocity ratio between the same with respect to the fixed member as the support is collapsed or extended, said element and said shiftable member each being connected to one of said portions to be relatively shiftable therewith where- .by said shiftable member is shiftable relatively of said fixed member to move said element with a mechanical advantage, said extensible support comprising a system of jointed bars.
  • a hoist comprising a relatively fixed member, an extensible support connected to said member, an element, load-engaging means on said element, a member shiftable on said element, portions of said support being shiftable from and toward said fixed member to produce a velocity ratio between said portions with respect to the fixed member as the support is collapsed or extended, said element and said shiftable member being connected to said portions to be relatively shiftable therewith, whereby said 7 shiftable member is shiftable relatively of said fixed member to move said element with a mechanical advantage, and yieldable means between said fixed member and said element for yielding 1y counteracting the load on said element, said extensible support comprising a system of jointed bars.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Description

May-12, 1942. D. e. REMPEL ,60
\ HOIST Filed April 17, 1940 2 Sheets-Sheet i INVENTOR.
D/fTR/CH G, FPEMPEL.
y 1 19 2- D. G. REMPEL 2,282,608
HOIST Filed April 17, 1940 2 Shee1.'sSheet 2 IN V EN TOR. .D/ETR/C H G. PEMPEL.
Patented May 12, 1942 UNITED STATES, PATENT OFFECE 'HoIs'r Dietrich G. Rempel, Barberton, Ohio, assignor to The Sun Rubber Company, Barb'erton, Ohio, a corporation of Ohio Application April 17, 1940, Serial .No. 330,099
.Claims.
Figure l is a side elevation, partly broken away, of a hoist embodying the invention.
Figure 2 is an edge view thereof, as viewed from the right of Figure 1, but on a larger scale, and partly broken away.
Figure 3 is an enlarged detail view of a loadengaging tongs at the lower end of the hoist, as viewed from the right of Figure 1.
Figure 4 .is anassembly view, on a smaller scale, illustrating the hoist shown in Figure 1,
in use for moving a load from one. piece of equipment to another.
Figure 5 is a view similar to Figure 1, on a reduced scale, illustrating a modified form. of the invention.
Referring to Figures 1 to 4., the numeral l0 designates an apertured block having a hook II .on the upper end thereof adapted to hook over a suitable, relatively fixed, supporting beam at 12, it being understood, however, that hook Il may be connected to movable means, such as an overhead crane, (not shown). Extending between the spaced walls I3, l3, of block 10, maybe a pin 14, on which is pivoted an extensible supporting device formed of jointed bars. The device 15 may comprise a pair of downwardly diverging arms [8, l6, pivoted at the upper end thereof on pin 14; a pair of arms 18, I 8, having the upper ends thereof pivoted at l1, IT, to the lower ends of arms l6, arms l8 being pivotally connected at the central portions thereof to form a jointed cross; and a pair of relatively short arms 20, 20, having the upper ends thereof pivoted at l9, 9, to the lower ends of arms l8,the
lower ends of arms 2!] being pivotally conected to oppositely disposed studs 21, 2| fixed on the upper end of a tubular sleeve 22, which extends downwardly a suitable distance to be within grasping reach of an operator of the hoist. This jointed arrangementof the arms l6, l8 and 20, 1
forms a supporting device which is expansible and collapsible relative to the fixed pivot M, in the manner of lazy-tongs,
The pivot for .the central jointed connection of the arms l8, i8,may comprise a pin '23, extending between spaced walls 24, 24, of an apertured block 25, the arms l8 being received through the apertures of the block, between said walls. Integral with the block 25 may bea rod 26, extending downwardlyand lslidably through the sleeve 22.
On the lower end of the rod 26 may be a.
socket '21 fora ball-joint connection 21*, with the upper end of a rod 28 having a grasping de- 7 vice on the lower end thereof, indicated generally 'at 29. This grasping device may comprise a pair of arms 30, 3.0, pivoted at one end to rod 28 andhaving pivoted at the other end thereof a pair of arms .32, 32, pivotally connected in crossed relation at 33 to a sleeve 34, slidable on rod 28. Downward extensions on, the arms 32 'g provid spaced jaws 35, .35, which may have'oppositely disposed pins 36, 36, on the inner faces thereof, for engaging in suitable recesses in opposite sidesof work L to be lifted or moved. A compression'spring 31 is provided, normally to urge the jaws 35 apart, the arrangement of the .mechanism 29 being such that when the jaws 3.5
are urged together to engage the pins 36 in openings in the load L, a load maintained on the pin 36 will retainthe jointed arms 30 and 32, in extendedcondition with the. jaws 35 .clampingly engaging said load. I
A tension spring 38 may be arranged between the relatively fixed block In and the vertically shiftable block 25 to counteract the 'weightof the load L carried thereby. In cases where the load L is substantially the same for periods of time, for example, the spring 38may be of suf-' ficient tension to support the whole load, so that the loads may be moved with a minimum of effort.
In the operation of the hoist to lift a load L, as for example to move it from the full-line position to the chain-dotted line position shown in Figure 4, the load is ,clampingly engaged in the clamping device 29, as previously described. To lift the load L, the operator, while using one hand to steady it, grasps the sleeve 22 with the other hand, and urges itupwardly until the load L is at the desired height when it may easily be swung in an arc from the support l2, as shown in Figure 4. Due to the jointed construction of the supporting device 15, for each unit of distance that the sleeve 22 is moved upwardly, the block degree than was obtained by means of the construction shown in Figures 1 to 4.
portionately shorter distance. The velocity ratio, or ratio of displacement, between the sleeve 22 and the load L is inversely proportionate to the power applied to move the sleeve 22 upwardly and the load carried by block 25, and therefore results in a mechanical advantage, which, in the case of the structure shown in Figure 4, amounts to somewhat more than a 2 to 1 advantage, independently of the effect of spring 38. Velocity ratio, as utilized herein, may be defined as'the ratio of the distance that the power moves to the distance that the load moves on account of the' movement of the power. vantage of the hoist may be altered by changing the proportions of the various armsor bars so as. i
to alter the velocity ratio between the sleeve 22 and the block 25. w i V Figure 5 illustrates a modified form of the invention, the essential difference between this structure and the structure shown in'Figure 4 residing in the addition of another pair ofcrossjointed arms l8 I8 parts which are similar to the structure previously described being given like numerals. The jointed arms l8 are pivoted at the central portions thereof. to a sleeve lB which is slidable on the shaft 26, relatively of the block 25 and the sleeve 22. Upward movement of the sleeve 22 relative to the fixed block l0 imparts movement to sleeve l8 and block 25,
respectively, with increasing velocity, thereby in- 'l' creasing the mechanical advantagefor lifting the load L carried by block '25 to a relatively greater Thus it will be seen that the mechanical advantage may also be increased to any desired extent by' addition of the desired number 'of cross-jointed arms pivoted on sleeves. relatively slidable on shaft 26.
The mechanical ad.-
Modifications of the invention may be resorted (A0 -to without departing from thespirit thereof or 'the'scope of the appended claims. Y 1 'What is claimed is:
1. A hoist comprising a relatively fixed member, an extensible support connected 'to' said member, an element, load-engaging means on said element, and a, member shiftable on said element, portions of said support being spaced in the direction of extensibility of said support and being shiftable from and toward said fixed member to produce a velocityratio between said portions with respect to said fixed member'as the support is collapsed or extended, said element and 'saidshiftable member eachbeing connected to one of said portions to be relatively shiftable therewith, whereby said shiftable member is shiftable relatively of said fixed member to move said element with a mechanical advantage. r
2. A device for moving a load comprising a relatively fixed member, an extensible member' connected to said fixed member, an element loadengagin'g means on said element, and a member shiftable on said element, portions of said extensible member being shiftable from and toward said fixed member to produce a velocity ratio between said portions with respect to said fixed member as said extensible member is collapsed or extended, said element and'said shiftable member each being connected to one of said portions to be relatively shiftable therewith, whereby said shiftable member is shiftable relatively of said fixed member to move said element with a mechanical advantage.
x '3'. A hoist comprising a relatively fixed member, an extensible support connected to said its member to move said element with member, an element, load-engaging means on said element, a member shiftable on said element, portions of said support being shiftable from and toward said fixed member to produce a velocity ratio between said portions with respect to said fixed member as the support is collapsed or extended, said element and said shiftable member. being connected to said portions to be relatively shiftable therewith, whereby said shiftable member is shiftable relatively of said fixed member-to move said element with a mechanical advantage, and yieldable means between said fixed member and said element for yieldingly counteracting the load on said ele- ,ment,
4, A device for moving a load comprising a relatively fixed member, an extensible member connected to said fixed member, an element,
load-engaging means on said element, a member shiftable on said element, portions of said extensible member being shiftable from and toward said fixed member to produce a velocity ratio between said portions with respect to said fixed member as said extensible member is collapsed or extended, said element and said shiftable member being connected to said portions to be relatively shiftable therewith, whereby said shiftable member is shiftable relatively of said fixed member to move said element with a, mechanical advantage, and yieldable means between said fixed member and said element for yieldingly counteracting the load on said element.
5. A hoist comprising a relatively fixed member, an extensible support connected to said member, 'an element, load-engaging means on said element,'and a plurality of members shiftable on said element, portions of said support being shiftable from and toward said fixed member to produce a, velocity ratio between said portions with respect to said fixed member as the support is collapsed or extended, said element and said shiftable members each being connected .to one of said portions to be relatively -shiftable therewith whereby one or more of said shiftable members are shiftable relatively of said fixed a mechanical advantage.
6. A hoist comprising a relatively fixed member, an extensible support connected to said member, an element, load-engaging means on said element, a plurality of members shiftable on said element, portions of said support being shiftable from and toward said fixed member to produce a velocity ratio between said portions with respect to said fixed member as the support is collapsed or extended, said element and said shiftable members being connected to said portions to be relatively shiftable therewith where- 7 with respect tosaid fixed member, said shiftable member thereby being yieldingly shiftable toward and from said fixed member to move a load on said element with a mechanical advantage.
8. A hoist or like device comprising a relatively fixed member, an element, load-engaging means on said element, a member relatively shiftable on said element, yieldable means depending from said relatively fixed member yieldingly to support said element and said shiftable member, said yieldable means providing a velocity ratio between said shiftable member and said element with respect to said fixed member, said shiftable member thereby being shiftable toward and from said fixed member to move a load on said element with a mechanical advantage, and yieldable means connected between said fixed member and said element for counteracting the load on said element.
9. A hoist comprising a relatively fixed member, an extensible support connected to said member, an element, load-engaging means on said element, and a, member shiftable on said element, portions of said support being shiftable from and toward said fixed member to produce a velocity ratio between the same with respect to the fixed member as the support is collapsed or extended, said element and said shiftable member each being connected to one of said portions to be relatively shiftable therewith where- .by said shiftable member is shiftable relatively of said fixed member to move said element with a mechanical advantage, said extensible support comprising a system of jointed bars.
10. A hoist comprising a relatively fixed member, an extensible support connected to said member, an element, load-engaging means on said element, a member shiftable on said element, portions of said support being shiftable from and toward said fixed member to produce a velocity ratio between said portions with respect to the fixed member as the support is collapsed or extended, said element and said shiftable member being connected to said portions to be relatively shiftable therewith, whereby said 7 shiftable member is shiftable relatively of said fixed member to move said element with a mechanical advantage, and yieldable means between said fixed member and said element for yielding 1y counteracting the load on said element, said extensible support comprising a system of jointed bars.
DIETRICH G. REMPEL.
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Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2536139A (en) * 1946-01-19 1951-01-02 Alex S Ritter Axially shifting type frame suspended tire removing device
US2597376A (en) * 1950-02-14 1952-05-20 James T Clark Flywheel tool
US2655278A (en) * 1950-12-21 1953-10-13 Towmotor Corp Barrel top grab mechanism
US2716549A (en) * 1949-12-16 1955-08-30 Murphy Automatic Pinsetter Co Pin setting machine
US2741486A (en) * 1954-11-05 1956-04-10 Eugene O N Torgrimson Sled runner attachment for wheeled vehicles
US2941285A (en) * 1952-07-25 1960-06-21 Cie Ind Des Telephones Means for assembling and/or disassembling two members or units
US3358985A (en) * 1964-04-17 1967-12-19 Nat Steel Corp Apparatus for conveying fluid toward a region of high temperature
US4005840A (en) * 1976-02-17 1977-02-01 Ratkovich John M Adjustable arm support
US5180276A (en) * 1991-04-18 1993-01-19 Brooks Automation, Inc. Articulated arm transfer device
US5180955A (en) * 1990-10-11 1993-01-19 International Business Machines Corporation Positioning apparatus
US5577879A (en) * 1992-12-28 1996-11-26 Brooks Automation, Inc. Articulated arm transfer device
US5647724A (en) * 1995-10-27 1997-07-15 Brooks Automation Inc. Substrate transport apparatus with dual substrate holders
US5720590A (en) * 1993-04-16 1998-02-24 Brooks Automation, Inc. Articulated arm transfer device
US6062798A (en) * 1996-06-13 2000-05-16 Brooks Automation, Inc. Multi-level substrate processing apparatus
US6158941A (en) * 1995-10-27 2000-12-12 Brooks Automation, Inc. Substrate transport apparatus with double substrate holders
US6231297B1 (en) 1995-10-27 2001-05-15 Brooks Automation, Inc. Substrate transport apparatus with angled arms
US6481956B1 (en) 1995-10-27 2002-11-19 Brooks Automation Inc. Method of transferring substrates with two different substrate holding end effectors

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2536139A (en) * 1946-01-19 1951-01-02 Alex S Ritter Axially shifting type frame suspended tire removing device
US2716549A (en) * 1949-12-16 1955-08-30 Murphy Automatic Pinsetter Co Pin setting machine
US2597376A (en) * 1950-02-14 1952-05-20 James T Clark Flywheel tool
US2655278A (en) * 1950-12-21 1953-10-13 Towmotor Corp Barrel top grab mechanism
US2941285A (en) * 1952-07-25 1960-06-21 Cie Ind Des Telephones Means for assembling and/or disassembling two members or units
US2741486A (en) * 1954-11-05 1956-04-10 Eugene O N Torgrimson Sled runner attachment for wheeled vehicles
US3358985A (en) * 1964-04-17 1967-12-19 Nat Steel Corp Apparatus for conveying fluid toward a region of high temperature
US4005840A (en) * 1976-02-17 1977-02-01 Ratkovich John M Adjustable arm support
US5180955A (en) * 1990-10-11 1993-01-19 International Business Machines Corporation Positioning apparatus
US5180276A (en) * 1991-04-18 1993-01-19 Brooks Automation, Inc. Articulated arm transfer device
US5577879A (en) * 1992-12-28 1996-11-26 Brooks Automation, Inc. Articulated arm transfer device
US5720590A (en) * 1993-04-16 1998-02-24 Brooks Automation, Inc. Articulated arm transfer device
US5813823A (en) * 1993-04-16 1998-09-29 Brooks Automation, Inc. Articulated arm transfer device
US5899658A (en) * 1993-04-16 1999-05-04 Brooks Automation Inc. Articulated arm transfer device
US5647724A (en) * 1995-10-27 1997-07-15 Brooks Automation Inc. Substrate transport apparatus with dual substrate holders
US6158941A (en) * 1995-10-27 2000-12-12 Brooks Automation, Inc. Substrate transport apparatus with double substrate holders
US6231297B1 (en) 1995-10-27 2001-05-15 Brooks Automation, Inc. Substrate transport apparatus with angled arms
US6299404B1 (en) 1995-10-27 2001-10-09 Brooks Automation Inc. Substrate transport apparatus with double substrate holders
US6481956B1 (en) 1995-10-27 2002-11-19 Brooks Automation Inc. Method of transferring substrates with two different substrate holding end effectors
US6062798A (en) * 1996-06-13 2000-05-16 Brooks Automation, Inc. Multi-level substrate processing apparatus
US6261048B1 (en) 1996-06-13 2001-07-17 Brooks Automation, Inc. Multi-level substrate processing apparatus

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